The invention discloses a planning method and system for an automatic driving vehicle to bypass a conical cylinder and a vehicle. The planning method comprises the steps that 1, obtaining point cloudinformation of a vehicle periodic environment obtained through scanning of a laser radar; 2, according to the point cloud information obtained by scanning, clustering and screening out the central position of the conical cylinder; 3, according to the obtained central position of the conical cylinder, fitting to generate a passable path, and previewing to obtain a previewing point for transverse control; and 4, receiving a preview point generated by the path, and completing corresponding transverse control. According to the method, a path for the vehicle to automatically bypass the conical barrel can be planned by utilizing scanning of the laser radar, and the calculation efficiency is high.
本发明公开了一种自动驾驶车辆绕行锥形筒的规划方法、系统及车辆,包括:步骤1.获取激光雷达扫描得到车辆周期环境的点云信息;步骤2.根据扫描得到的点云信息,聚类筛选出锥形筒的中心位置;步骤3.根据所得到的锥形筒的中心位置,拟合生成可通行路径,并预瞄得到用于横向控制的预瞄点;步骤4.接收路径生成得到的预瞄点,完成相应的横向控制。本发明能够利用激光雷达的扫描,规划一条用于车辆自动绕行锥形筒的路径,且计算效率高。
Planning method and system for automatic driving vehicle to bypass conical barrel and vehicle
自动驾驶车辆绕行锥形筒的规划方法、系统及车辆
2021-02-26
Patent
Electronic Resource
Chinese
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